Cart conveyance auxiliary device, warehouse operation system, warehouse operation method, and warehouse operation program

Abstract

To make it possible to convey a plurality of "carts" using a single AMR connected to a cart conveyance auxiliary device.SOLUTION: A cart conveyance auxiliary device of an embodiment comprises: an U-shaped main body part composed of a short main body frame and a pair of long main body frames connected at both ends of the short main body frame; a joint joined to the short main body frame and joined to a conveyance self-sustaining travel robot (AMR) for conveyance; a holding part connected to the pair of longitudinal frames of the main body part and for holding a plurality of carts installed by the AMR for joint arrangement; and a wheel part installed at the end opposite to the end where the short body frame is connected.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] An embodiment of the present invention relates to a cart transport assist device, a warehouse operation system, a warehouse operation method, and a warehouse operation program. [Background technology]

[0002] In transport robot systems installed in warehouses and other locations, when an automated guided vehicle (AGV) or autonomous mobile robot (AMR) transports a "cart," up until now it has been common for one AGV or AMR to transport one "cart" using a lifting method, a towing method, a bottom (side) gripping method, or some other method.

[0003] In addition, when using one AMR to transport multiple "trolleys," one method is for workers to manually connect the multiple "trolleys" together and then have one AMR transport them. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6464304 Summary of the Invention [Problem to be solved by the invention]

[0005] When one cart is transported by one AMR, it is necessary to secure a number of AMRs corresponding to the processing capacity (transport distance per unit time and the number of carts to be transported). In order to increase the processing capacity, a large number of AMRs are required. However, in this case, there are problems such as congestion occurring as a result of many AMRs in operation, and rising costs due to the need to introduce many AMRs.

[0006] Furthermore, when using one AMR to transport multiple carts, workers must connect and disconnect them before and after transportation. This means that the transportation system cannot be fully automated. Furthermore, the need for workers to perform tasks increases labor costs, which leads to higher costs.

[0007] This invention was made with the above-mentioned circumstances in mind, and its purpose is to provide technology that enables multiple "trolleys" to be transported by a single AMR connected to a trolley transport auxiliary device. [Means for solving the problem]

[0008] The transport assistance device of the embodiment comprises a U-shaped main body portion composed of a short main body frame and a pair of long main body frames connected at both ends of the short main body frame, a joint portion joined to the short main body frame and joined to an autonomous mobile transport robot (AMR) for transport, a holding portion connected to the pair of long frames of the main body portion for holding multiple carts installed by an AMR for connecting arrangement, and a wheel portion installed at the end opposite to the end to which the short main body frames are connected. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a conceptual diagram illustrating an example of a warehouse system according to an embodiment. [Diagram 2] FIG. 2 is a diagram illustrating an example of the configuration of a transportation AMR in the embodiment. [Diagram 3] FIG. 3 is a diagram illustrating an example of the configuration of the cart transport assist device in the embodiment. [Figure 4] FIG. 4 is a diagram showing an example of a top view and a side view of the transportation AMR and the cart transportation auxiliary device. [Diagram 5] FIG. 5 is a diagram showing an example of a top view of the structure of the transport AMR and the cart transport auxiliary device. [Figure 6]FIG. 6 is a diagram showing an example of when the connected arrangement AMR sets the cart on the cart transport auxiliary device. [Figure 7] FIG. 7 is a diagram showing an example of the structure of the cart transport auxiliary device when the holding device separates the cart. [Figure 8] FIG. 8 is a diagram showing an example of a flow of a transport process according to the embodiment. [Figure 9] FIG. 9 is a diagram showing an example of a flow of a transport process according to the embodiment. [Figure 10] FIG. 10 is a diagram showing an example of a flow of a transport process according to the embodiment. [Figure 11] FIG. 11 is a diagram showing an example of a flow of a transport process according to the embodiment. [Figure 12] FIG. 12 is a diagram showing an example of a flow of a transport process according to the embodiment. [Figure 13] FIG. 13 is a diagram showing an example of a flow of a transport process according to the embodiment. [Figure 14] FIG. 14 is a diagram showing an example of a flow of a transport process according to the embodiment. [Figure 15] FIG. 15 is a flowchart showing an example of the carriage transport operation in this embodiment. [Figure 16] FIG. 16 is a table showing an example of a transportation operation plan in this embodiment. [Figure 17] FIG. 17 is a diagram showing an example of two-dimensional coordinates in a warehouse in this embodiment. [Figure 18] FIG. 18 is a diagram showing an example of the configuration of a cart transportation assist device according to a first modified example of the embodiment. [Figure 19] FIG. 19 is a diagram showing an example of a top view and a side view of the transportation AMR and the cart transportation auxiliary device. [Figure 20] FIG. 20 is a diagram showing an example of a cross-sectional view of the cart transportation assist device taken along line aa shown in FIG. [Figure 21] FIG. 21 is a diagram showing an example of a top view and a side view of the transportation AMR and the cart transportation auxiliary device. [Figure 22] FIG. 22 is a diagram showing an example of a cross-sectional view of the cart transportation assist device taken along line bb shown in FIG. [Diagram 23] FIG. 23 is a diagram showing an example of the configuration of a cart transportation assist device according to a third modified example of the embodiment. [Figure 24] FIG. 24 is a diagram showing an example of a side view of a cart transportation assist device according to a third modified example of the embodiment. [Diagram 25] FIG. 25 is a diagram showing an example of the configuration of a cart transportation assist device according to a fourth modified example of the embodiment. [Figure 26] FIG. 26 is a diagram showing an example of a side view of a cart transportation assist device according to a fourth modified example of the embodiment. [Figure 27] FIG. 27 is a top view of a cart transportation assist device according to a fourth modified example of the embodiment, and a top view showing only the holding device and the inclined surface. [Figure 28] FIG. 28 is a diagram showing an example of the configuration of a cart transportation assist device according to a fifth modified example of the embodiment. [Figure 29] FIG. 29 is a diagram showing an example of a side view of the transportation AMR and the cart transportation auxiliary device. [Diagram 30] FIG. 30 is a diagram showing an example of a top view of the cart transportation assist device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] The cart transport assist device, the warehouse operation system, the warehouse operation method, and the warehouse operation program will be described in detail below with reference to the drawings. Note that in the following embodiments, the parts with the same numbers perform the same operations, and the repeated description will be omitted. For example, when there are multiple identical or similar elements, a common symbol may be used to describe each element without distinguishing between them, and a subnumber may be used in addition to the common symbol to describe each element with distinction between them.

[0011] In the following description, the description A or B means at least one of A or B, and A, B, or C means at least one of A, B, or C. Furthermore, the description A and B also means at least one of A and B, and A, B, and C mean at least one of A, B, and C.

[0012] [Embodiment] (composition) FIG. 1 is a conceptual diagram illustrating an example of a warehouse system according to an embodiment. As shown in Fig. 1, the warehouse system S includes a warehouse management system (WMS) 1 and an AMR automatic transport system 2. The AMR automatic transport system 2 may be a part of the warehouse management system, and includes a warehouse execution system (WES) 30, a transport AMR control system (WCS) 40, a roll pallet transport support control system (RPTSCS) 60, a linked arrangement AMR control system (WCS) 50, a plurality of transport AMRs 71, ..., 7N, a plurality of linked arrangement AMRs 81, ..., 8M, and a plurality of cart transport support devices 91, ..., 9N. Note that N and M are any positive integers.

[0013] Here, for simplicity, in the following explanation, the transporting AMR 71, ... 7N, the connected arrangement AMR 81, ... 8M, and the cart transport auxiliary device 91, ..., 9N will be simply referred to as the transporting AMR 70, the connected arrangement AMR 80, and the cart transport auxiliary device 90, respectively, unless there is a particular need to distinguish between them.

[0014] The WMS1 and the WES30 may be connected via a network. Here, the network is, for example, a LAN (local area network). The WES30, the transport AMR control system 40, the connected arrangement AMR control system 50, and the cart transport auxiliary device control system 60 may be connected via a network. Furthermore, the transport AMR control system 40 and the transport AMR 70, the connected arrangement AMR control system 50 and the connected arrangement AMR 80, and the cart transport auxiliary device control system 60 and the cart transport auxiliary device 90 may each be connected via a network. Here, the transport AMR 70, the connected arrangement AMR 80, and the cart transport auxiliary device 90 may be wirelessly connected to the network.

[0015] The WMS1 can be configured with one or more computers, i.e., a processor, a memory, an interface, etc. The processor is a central processing unit (CPU), a micro processing unit (MPU), a digital signal processor (DSP), etc. The WMS1 receives a transportation operation plan from a higher-level server and transmits it to the WES30.

[0016] The transport operation plan includes, for example, information on the start point from which a particular cart is to be moved to the end point, time information, other associated information, etc. The details of the transport operation plan will be described later.

[0017] WES30 (server) can be configured with one or more general-purpose computers. WES30 includes a processor 301, a memory 302, and an interface 303. Processor 301 is a CPU, MPU, DSP, or the like. Memory 302 stores operation programs and the like for processor 301. Interface 303 communicates with WMS1, transport AMR control system 40, joint placement AMR control system 50, and cart transport auxiliary device control system 60.

[0018] The processor 301 of the WES 30 includes an acquisition unit 3011, a generation unit 3012, and an output unit 3013. The processor 301 executes a program stored in the memory 302 to realize the functions of each unit.

[0019] For example, the interface 303 receives a transport operation plan from WMS1. The acquisition unit 3011 acquires the transport operation plan. The generation unit 3012 generates an optimal operation plan from the transport operation plan. The output unit 3013 outputs the generated optimal operation plan. The interface 303 transmits the optimal operation plan to the transport AMR control system 40, the connected placement AMR control system 50, and the cart transport auxiliary device control system 60. The interface 303 also receives transport processing results from the transport AMR control system 40, the connected placement AMR control system 50, and the cart transport auxiliary device control system 60, and transmits the results to WMS1. The processor 301 is a CPU, an MPU, a DSP, or the like. The processor 301 is a subject that executes the plan generation method. The memory 302 stores the operation program of the processor 301, and the like. The interface 303 communicates with the WMS 1, the transport AMR control system 40, the joint placement AMR control system 50, and the cart transport auxiliary device control system 60.

[0020] The transportation AMR control system 40 can be configured with one or more general-purpose computers. The transportation AMR control system 40 includes a processor 401, a memory 402, and an interface 403. The processor 401 is a CPU, an MPU, a DSP, or the like. The memory 402 stores an operation program for the processor 401, and the like. The interface 403 communicates with the WES 30 and the transportation AMR 70.

[0021] The linked arrangement AMR control system 50 can be configured with one or more general-purpose computers. The linked arrangement AMR control system 50 includes a processor 501, a memory 502, and an interface 503. The processor 501 is a CPU, an MPU, a DSP, or the like. The memory 502 stores an operation program for the processor 501, and the like. The interface 503 communicates with the WES 30 and the linked arrangement AMR 80.

[0022] The cart transport assist device control system 60 can be configured with one or more general-purpose computers. The cart transport assist device control system 60 includes a processor 601, a memory 602, and an interface 603. The processor 601 is a CPU, an MPU, a DSP, or the like. The memory 602 stores an operation program for the processor 601, and the like. The interface 603 communicates with the WES 30 and the cart transport assist device 90.

[0023] For example, a plurality of transport AMRs 70 (N in the example of FIG. 1) are arranged in a warehouse and transport the cart to a predetermined position. The transport AMR 70 transports the cart to a predetermined position based on the control of the transport AMR control system 40. The transport AMR 70 may be any AGV. For example, the transport AMR 70 may be any of a track type, a QR (registered trademark) code type, and a SLAM type. The transport AMR 70 has a traction force capable of transporting a plurality of carts. The transport AMR 70 may be any robot capable of autonomous transport, including an AGV.

[0024] For example, multiple AMRs for connected placement 80 (M units in the example of FIG. 1) are arranged in a warehouse, and transport a cart to be transported by the transport AMR 70 to a predetermined position in the cart transport auxiliary device 90. The AMRs for connected placement 80 transport the cart to a predetermined position under the control of the AMR control system 50 for connected placement. Since the AMRs for connected placement 80 need to be installed in the cart transport auxiliary device 90, it is desirable that the AMRs for connected placement 80 are AMRs that can be precisely positioned. For example, it is desirable that the AMRs for connected placement 80 are AMRs that can grasp their own position more accurately. However, the AMRs for connected placement 80 may be the same type of AMR as the transport AMR 70. Or, they may be different AMRs.

[0025] As described above, by separating the roles of the transport AMR 70, which transports the cart, and the connected and arranged AMR 80, which arranges the cart on the cart transport auxiliary device 90, it is possible to employ an AMR that is less expensive than the connected and arranged AMR 80 for the transport AMR 70. This makes it possible to reduce the introduction cost of AMRs for the entire system.

[0026] A plurality of cart transport assist devices 90 (N units in the example of FIG. 1) are placed in the warehouse and are physically connected to the transport AMR 70. In FIG. 1, the physical connection is indicated by dotted lines. The cart transport assist device 90 is a device that enables the transport AMR 70 to transport a plurality of carts. The cart transport assist device 90 holds or separates (separates) the carts based on the control of the cart transport assist device control system 60.

[0027] Here, unless otherwise specified, the cart may be a general cage cart having four swivel wheels, a dolly, a wheeled pallet cart, or the like.

[0028] Next, the configuration of the transportation AMR 70 according to the embodiment will be described. FIG. 2 is a diagram showing an example of the configuration of a transportation AMR 70 in the embodiment. The transportation AMR 70 includes a processor 701, a ROM 702, a RAM 703, an auxiliary storage device 704, a communication interface 705, a sensor 706, a drive unit 707, a battery 708, a charging mechanism 709, and tires 710.

[0029] The processor 701 has a function of controlling the overall operation of the transport AMR 70. The processor 701 may include an internal cache and various interfaces. The processor 701 realizes various processes by executing programs stored in advance in the internal memory, the ROM 702, or the auxiliary storage device 704.

[0030] For example, the processor 701 is a CPU. The processor 701 may be realized by hardware such as an LSI, an ASIC, or an FPGA. The processor 701 performs processes such as calculations and controls required for operations such as acceleration, deceleration, stopping, changing direction, etc. The processor 701 executes a program stored in the ROM 702 or the like based on a control signal from the transport AMR control system 40 or the like, thereby generating a drive signal and outputting it to each unit.

[0031] For example, the transport AMR control system 40 transmits a control signal to move the transport AMR 70 from the current position to a first position (carriage loading position) and then from the first position to a second position (carriage unloading position). The transport AMR control system 40 also transmits a control signal to move the transport AMR 70 from the second position to the first position. The processor 701 of the transport AMR 70 outputs a drive signal in response to the control signal transmitted from the transport AMR control system 40. As a result, the transport AMR 70 moves from the current position to the first position, from the first position to the second position, and from the second position to the first position.

[0032] The transport AMR control system 40 may also transmit control signals to move the transport AMR 70 from the current position to the first position, from the first position to the second position, and from the second position to the first position all at once. The control signal to move the transport AMR 70 to the first position or the second position may be divided and transmitted. For example, the transport AMR control system 40 may set at least one waypoint and divide the control signal into a control signal to move the transport AMR 70 to the waypoint and a control signal to move the transport AMR 70 from the waypoint to the first position or the second position, and transmit each control signal to the transport AMR 70.

[0033] The ROM 702 is a non-transitory computer-readable storage medium, and stores the above-mentioned programs. The ROM 702 also stores data or various setting values ​​used by the processor 701 when performing various processes.

[0034] The RAM 703 is a memory used for reading and writing data, and is used as a so-called work area for storing data that is temporarily used when the processor 701 performs various processes.

[0035] The auxiliary storage device 704 is a non-transitory computer-readable storage medium, and may store the above-mentioned programs. The auxiliary storage device 704 also stores data used by the processor 701 in performing various processes, data generated by the processes in the processor 701, various setting values, and the like.

[0036] The communication interface 705 is an interface for transmitting and receiving data to and from the transportation AMR control system 40, etc., via a wireless LAN access point, etc. For example, the communication interface 705 supports wireless LAN connection.

[0037] Sensor 706 is a plurality of reflection sensors. Each reflection sensor is attached around the transportation AMR 70. Each reflection sensor irradiates a laser beam, detects the time from when the laser beam is irradiated until the laser beam is reflected by an object and returns, detects the distance to the object based on the detected time, and notifies the processor 701 of a detection signal.

[0038] The drive unit 707 is a motor or the like, and rotates or stops the motor based on a drive signal output from the processor 701. The power of the motor is transmitted to the tires 710 and then to the steering mechanism. By the power from such a motor, the transport AMR 70 moves to the destination.

[0039] Furthermore, the processor 701 operating as a self-position detection unit detects the current position of the transport AMR 70 using the sensor 706 and images captured by a camera or the like. Then, the processor 701 transmits position information including the detected position, the direction of travel, and the like to the transport AMR control system 40.

[0040] The battery 708 supplies necessary power to the drive unit 707 etc. The charging mechanism 709 is a mechanism that connects a charging station and the battery 708, and the battery 708 is charged with power supplied from the charging station etc. via the charging mechanism 709.

[0041] Here, the hardware configuration of the linked placement AMR 80 is similar to that of the transport AMR 70 described with reference to Fig. 2, and includes a processor 801, a ROM 802, a RAM 803, an auxiliary storage device 804, a communication interface 805, a sensor 806, a drive unit 807, a battery 808, a charging mechanism 809, and tires 810. These configurations are similar to those of the transport AMR 70, so duplicated explanations will be omitted here.

[0042] Next, the configuration of the carriage transport auxiliary device 90 according to the embodiment will be described. FIG. 3 is a diagram showing an example of the configuration of a cart transport assist device 90 in the embodiment. The cart transport auxiliary device 90 includes a processor 901, a ROM 902, a RAM 903, an auxiliary memory device 904, a communication interface 905, a drive unit 906, a holding device 907, a main body unit 908, an AMR joint unit 909, a wheel unit 910, a battery 911, a charging mechanism 912, and the like.

[0043] The processor 901 has a function of controlling the overall operation of the cart transport auxiliary device 90. The processor 901 may include an internal cache and various interfaces. The processor 901 realizes various processes by executing programs stored in advance in the internal memory, the ROM 902, or the auxiliary storage device 904.

[0044] For example, the processor 901 is a CPU. The processor 901 may be realized by hardware such as an LSI, an ASIC, or an FPGA. The processor 901 performs processes such as calculations and controls required for the operation of the motors and the like included in the drive unit 906. The processor 901 executes a program stored in the ROM 902 or the like based on a control signal from the cart transport auxiliary device control system 60, thereby generating a drive signal and outputting it to each unit.

[0045] The ROM 902 is a non-transitory computer-readable storage medium, and stores the above-mentioned programs. The ROM 902 also stores data or various setting values ​​used by the processor 901 when performing various processes.

[0046] The RAM 903 is a memory used for reading and writing data, and is used as a so-called work area for storing data that is temporarily used when the processor 901 performs various processes.

[0047] The auxiliary storage device 904 is a non-transitory computer-readable storage medium, and may store the above-mentioned programs. The auxiliary storage device 904 also stores data used by the processor 901 in performing various processes, data generated by the processes in the processor 901, various setting values, and the like.

[0048] The communication interface 905 is an interface for transmitting and receiving data to and from the cart transport assist device control system 60 and the like via a wireless LAN access point, etc. For example, the communication interface 905 supports wireless LAN connection.

[0049] The driving unit 906 is a motor or the like, and rotates or stops the motor based on a driving signal output from the processor 901. The power of the motor is transmitted to the holding device 907. The holding device 907 is an L-shaped device capable of holding a cart. The structure of the holding device 907 will be described in detail later.

[0050] The main body 908 is the main body of the cart transport assist device 90. The main body 908 is structured to be capable of transporting a plurality of carts, and is structured to be capable of holding and separating each cart. Details of the structure of the main body 908 will be described later.

[0051] The AMR joint 909 is a joint for joining with the transport AMR 70. The AMR joint 909 is provided, for example, at the approximate center point of the transport AMR 70 and has a structure that allows it to rotate around the approximate center point. The wheel unit 910 is connected to the main body of the cart transport auxiliary device 90 and is a wheel when transported by the transport AMR 70.

[0052] The battery 911 supplies the necessary power to the drive unit 906 etc. The charging mechanism 912 is a mechanism that connects the charging station and the battery 911, and the battery 911 is charged with power supplied from the charging station etc. via the charging mechanism 912. Note that the power required for the cart transport auxiliary device 90 may be obtained from the transport AMR 70. In this case, the battery 911 and the charging mechanism 912 do not need to be provided.

[0053] (structure) Next, the structures of the transportation AMR 70, the connected arrangement AMR 80, and the cart transportation auxiliary device 90 will be described in detail.

[0054] FIG. 4 is a diagram showing an example of a top view and a side view of the transportation AMR 70 and the cart transportation auxiliary device 90. 4(a) shows an example of a top view of the transport AMR 70 and the cart transport auxiliary device 90, and FIG. 4(b) shows an example of a side view of the transport AMR 70 and the cart transport auxiliary device 90. As shown in FIGS. 4(a) and (b), the transport AMR 70 and the cart transport auxiliary device 90 are joined by an AMR joint 909 and move along the floor surface by wheel parts 910. For example, the AMR joint 909 is provided at approximately the center point of the transport AMR 70 and is composed of a rotatable mechanism, and is structured to be rotatable in accordance with the movement of the transport AMR 70.

[0055] The main body 908 is large enough to surround the cart. The main body 908 is a U-shaped structure in which a pair of long body frames 9082 are connected to both ends of a short body frame 9081. Furthermore, the main body 908 is configured with a main body joint 9083 connected to an AMR joint 909 for connecting to the transport AMR 70 near the center of the short body frame 9081. In addition, the opposite side of the short body frame 9081 is an opening 9084 for receiving or opening the cart. Furthermore, a pair of drive units 906 are arranged inside the pair of long body frames 9082 and in a portion in contact with the short body frame 9081. At least one holding device 907 is connected to each of the pair of drive units 906. For example, the main body portion 908 can be said to have a Y-shaped structure, with the I part of the Y being the main body joint 9083 and the V part being a U-shaped structure (a structure composed of a short main body frame 9081 and a long main body frame 9082).

[0056] The driving unit 906 includes a mechanism for driving the holding device 907. The driving unit 906 rotates the holding device 907 to change it from a holding state in which the dolly is held to an open state in which the dolly is released, or vice versa. When a plurality of holding devices 907 are connected, the driving unit 906 can drive each of them independently.

[0057] The holding device 907 is L-shaped and has a long holding frame 9072 parallel to a pair of long main body frames 9082. The short holding frame 9071 rotates by being driven by a drive unit 906, and when it is perpendicular to the ground, it is in an open state for opening the dolly, and when it is parallel to the ground, it is in a holding state for holding the dolly. In addition, the long holding frame 9072 has a length and strength sufficient to hold at least one dolly, and the short holding frame 9071 has a length and strength sufficient to hold the dolly when the transport AMR 70 moves.

[0058] Furthermore, the holding device 907 may be configured with a plurality of holding devices 907 so that one holding device 907 holds one dolly. In this case, the longitudinal holding frame 9072 of the holding device 907 (first holding device) for holding a dolly at a position close to the holding device 907 has a length sufficient to hold at least one dolly, and the longitudinal holding frame 9072 of the holding device 907 (second holding device) for holding a dolly at a position next close to the holding device 907 has a length sufficient to hold at least two dollies. In other words, even if the first holding device holds a dolly, the second holding device has a length sufficient to hold the dolly.

[0059] The wheel unit 910 is attached to the end of the long body frame 9082 opposite to the end of the short body frame 9081 connected thereto (i.e., the end of the AMR joint 909 connected thereto), and comes into contact with the floor surface. The wheel unit 910 is, for example, a swivel wheel.

[0060] FIG. 5 is a diagram showing an example of a top view of the structure of the transportation AMR 70 and the cart transportation auxiliary device 90. As shown in FIG. 5, the AMR joint 909 is a mechanism that joins the main body 908 and the transport AMR 70 and is rotatable. The AMR joint 909 rotates, allowing the trolley transport auxiliary device 90 to follow changes in the travel direction of the transport AMR 70. That is, the AMR joint 909 joins the transport AMR 70, allowing the trolley transport auxiliary device 90 to change direction. Note that, in this embodiment, an example is shown in which the trolley transport auxiliary device 90 is not powered, but the trolley transport auxiliary device 90 itself may be powered. In this case, the trolley transport auxiliary device 90 itself may be capable of changing direction.

[0061] FIG. 6 is a diagram showing an example of when the joint placement AMR 80 sets the cart on the cart transport auxiliary device 90. In FIG. 6, the cart transport auxiliary device 90 holds two carts 100, and an additional cart is about to be set at an arbitrary location by the AMR for joint placement 80. At this time, the holding device 907 at the location where the cart 100 is to be set is in an open state. The AMR for joint placement 80 sets one cart 100 on the cart transport auxiliary device 90. For example, the AMR for joint placement 80 pushes the cart 100 to set it on the cart transport auxiliary device 90. Then, after the setting is completed, the AMR for joint placement 80 retreats and moves away from the cart transport auxiliary device 90. Then, the drive unit 906 rotates the holding device 907 to change it from the open state to the holding state.

[0062] FIG. 7 is a diagram showing an example of the structure of the cart transport assist device 90 when the holding device 907 separates the carts. As shown in FIG. 7(a), each of the multiple holding devices 907 (two holding devices 907 in FIG. 7a) holds one cart 100. Then, as shown in FIG. 7(b), when the transporting AMR 70 moves to a predetermined position, the drive unit 906 rotates the holding device 907 closer to the open section 9084 (i.e., rotates the short-side holding frame 9071 from a horizontal direction to a vertical direction) to change from a held state to an open state. Then, as the transporting AMR 70 moves, the cart 100 closer to the open section 9084 remains in place. As a result, the cart 100 is separated from the cart transport auxiliary device 90 at a predetermined location.

[0063] (operation) (1)Transportation process flow First, a series of flows of the transport process according to the embodiment will be described. 8 to 14 are diagrams showing an example of a series of flows of the transport process according to the embodiment. As shown in Fig. 8, the transport AMR 70 moves from a non-standby position (first position) to a starting point which is a standby position (second position). In Fig. 8, two trolleys 100 are already held by the trolley transport auxiliary device 90. However, Fig. 8 is merely an example, and it goes without saying that the trolleys 100 do not have to be held by the trolley transport auxiliary device 90. From the viewpoint of safety, even if the trolleys 100 are not being held, the short-side holding frame 9071 is in a holding state, i.e., parallel to the floor surface.

[0064] As shown in FIG. 9, when the trolley transport auxiliary device 90 arrives at the waiting position, it drives the drive unit 906 to rotate the short-side holding frame 9071 closest to the open portion 9084 from a holding state to an open state, i.e., from a state parallel to the floor surface to a state perpendicular to the floor surface.

[0065] 10 , the AMR 80 for connection and placement sets the cart 100 on the cart transport auxiliary device 90. As described above, the AMR 80 for connection and placement pushes the cart 100 to set the cart 100 at a predetermined position on the cart transport auxiliary device 90.

[0066] As shown in FIG. 11, after the trolley 100 is set in a predetermined position, the drive unit 906 is driven to rotate the short-side holding frame 9071 closest to the open portion 9084 from the open state to the holding state, i.e., from a state perpendicular to the floor surface to a state horizontal to the floor surface.

[0067] As shown in Fig. 12, the transport AMR 70 and the cart transport auxiliary device 90 connected to the transport AMR 70 move from the standby position to the destination position via a predetermined transport path. As a result, the multiple carts 100 held in the cart transport auxiliary device 90 move to the destination position.

[0068] 13, after arriving at the destination position, the cart transport assist device 90 drives the drive unit 906 to rotate the short-side holding frame 9071 closest to the open section 9084 from a held state to an open state, that is, from a state parallel to the floor surface to a state perpendicular to the floor surface. Note that the number of short-side holding frames 9071 that are opened by the drive unit 906 is not limited to one, and there may be multiple frames.

[0069] As shown in FIG. 14, after the short-side holding frame 9071 is in the open state, the transportation AMR 70 moves, and the dolly 100 is placed at the destination position.

[0070] Next, a description will be given of a carriage transport operation including the series of operations shown in Figs. FIG. 15 is a flowchart showing an example of the carriage transport operation in this embodiment. The operation of this flowchart is realized by processor 301 of WES30, processor 701 of the transporting AMR, processor 801 of the AMR 80 for interlocking placement, and processor 901 of the cart transporting auxiliary device 90 reading and executing programs stored in memory 302, ROM 702, ROM 802, and ROM 902, respectively.

[0071] This flowchart starts when WMS1 receives a transportation work plan from an external device and transmits the transportation work plan to WES2.

[0072] In step ST101, the acquisition unit 3011 of the processor 301 receives a transportation work plan. The acquisition unit 3011 operating as a receiving unit receives the transportation work plan transmitted by the WMS1.

[0073] FIG. 16 is a table showing an example of a transportation operation plan in this embodiment. The picking list for a row in a transportation work plan is composed of, from left to right, the start point to end point for a specific cart (cart ID, cart type), time information (the time when the work can be started (planned) and the time by which it must be completed (completion time)), and associated information such as the expected weight and weight based on past performance (past statistical data or real-time actual measurement data). Here, the start point and end point are values ​​specified by the two-dimensional coordinates of the warehouse.

[0074] FIG. 17 is a diagram showing an example of two-dimensional coordinates in a warehouse in this embodiment. As shown in Fig. 17, coordinates are set with a specific position in the warehouse as the origin (lower left in Fig. 17). Note that the units of the X-axis and Y-axis are set according to the required resolution.

[0075] Returning to FIG. 15, in step ST102, the generation unit 3012 formulates an optimal operation plan. The generation unit 3012 formulates the optimal operation plan based on the transportation work plan. The generation unit 3012 formulates the optimal operation plan so that F=αT+βE is minimized. T is the total processing time, and E is the processing energy of the AMR, details of which will be described later. In addition, α and β are coefficients that can be set arbitrarily. Here, when β=0, the plan is one in which the processing time (T) is the fastest, and when α=0, the plan is one in which the processing energy (E) of the AMR is the minimum (local minimum value).

[0076] The processing energy E is expressed, for example, as the sum of the operating distance multiplied by the energy coefficient (for example, power consumption) of each of the transport AMR 70 and the connected arrangement AMR 80 and the transport distance, and is defined by the following formula.

[0077] E = A x L1 (total operating distance of N AMR70s for transport) + B x L2 (total operating distance of M AMR80s for linked arrangement) Here, L1 and L2 include movement to a waiting position or a destination position, and movement other than transportation. Furthermore, A and B are coefficients set based on the power consumption according to the operating distance of the transportation AMR 70 and the joint arrangement AMR 80.

[0078] Here, assuming that t is time and l is the travel distance, the generation unit 3012 formulates an optimal operation plan based on the following formula so that F is minimized.

number

[0079] For example, if it is desired to minimize the processing time and there are ten transport AMRs 70, the ten transport AMRs 70 may perform the work simultaneously.

[0080] The generating unit 3012 formulates an optimal operation plan for the starting point, the end point, and the cart transport auxiliary device 90 in a LIFO (Last In First Out) manner based on the above formula. Details of the instructions included in the optimal operation plan will be described later. The output unit 3013 transmits the formulated optimal operation plan to the transport AMR control system 40, the connected arrangement AMR control system 50, and the cart transport auxiliary device control system 60 through the interface 303. The processor 401 of the transport AMR control system 40, the processor 501 of the connected arrangement AMR control system 50, and the processor 601 of the cart transport auxiliary device control system 60 will transmit necessary signals to the transport AMR 70, the connected arrangement AMR 80, and the cart transport auxiliary device 90 based on this optimal operation plan, respectively. In addition, as will be described later, the optimal operation plan is based on the premise of LIFO, and therefore is a plan that allows the cart 100 to be mounted (installed) on the cart transport auxiliary device 90 or dismounted (separated) from the cart transport auxiliary device 90 midway along the transport route.

[0081] In step ST103, the processor 301 determines whether the work is completed. The processor 301 operating as a determination unit determines whether the work of the transportation work plan is completed. If completed, the process ends. On the other hand, if not completed, the process proceeds to step ST104.

[0082] In step ST104, the processor 701 controls the transport AMR 70 to move to the standby position. For example, the optimal operation plan includes an instruction to move the transport AMR 70 to the standby position. Therefore, the processor 401 outputs a movement signal to the transport AMR 70 to move the transport AMR 70 to the standby position based on the optimal operation plan. The processor 701 that receives the signal controls the transport AMR 70 to move from the non-standby position to the standby position, as described with reference to FIG. 8.

[0083] In step ST105, the processor 901 drives the driving unit 906 to control the holding device 907 to transition from the holding state to the release state. For example, the optimal operation plan includes an instruction for the cart transport auxiliary device 90 to transition from the holding state to the release state. Therefore, the processor 601 of the cart transport auxiliary device control system 60 outputs a signal for transitioning from the holding state to the release state to the cart transport auxiliary device 90. The processor 901 of the cart transport auxiliary device 90 that receives the signal drives the driving unit 906 to control the holding device 907 to transition from the holding state to the release state, as described with reference to FIG. 9.

[0084] In step ST106, the processor 801 of the AMR 80 for connected placement controls the cart 100 to be placed on the cart transport auxiliary device 90. For example, the optimal operation plan includes an instruction as to which cart 100 is to be placed on the cart transport auxiliary device 90. Therefore, the processor 501 of the AMR control system 50 for connected placement moves the AMR 80 for connected placement to the cart 100 at a predetermined location based on the optimal operation plan, and outputs a signal to the AMR 80 for connected placement to push the cart 100 and place it on the cart transport auxiliary device 90. The processor 801 of the AMR 80 for connected placement controls the cart 100 to be placed on the cart transport auxiliary device 90, as described with reference to FIG. 10.

[0085] In step ST107, the processor 501 determines whether or not the required number of carts 100 have been installed on the cart transport assist device 90. For example, the optimal operation plan includes an instruction as to how many carts 100 should be installed on the cart transport assist device 90. Therefore, the processor 501 determines whether or not the required number of carts 100 have been installed on the AMR 90 for joint placement based on the optimal operation plan. If they have not been installed, the process returns to step ST106. On the other hand, if they have been installed, the process proceeds to step ST108.

[0086] In step ST108, the processor 901 drives the driving unit 906 to control the holding device 907 to transition from the open state to the holding state. For example, the optimal operation plan includes an instruction for the trolley transport auxiliary device 90 to transition from the open state to the holding state. For this reason, the processor 601 of the trolley transport auxiliary device control system 60 outputs a signal for transitioning from the open state to the holding state to the trolley transport auxiliary device 90. The processor 901 of the trolley transport auxiliary device 90 that receives the signal drives the driving unit 906 to control the holding device 907 to transition from the open state to the holding state, as described with reference to FIG. 11. That is, the optimal operation plan includes an instruction for the trolley transport auxiliary device 90 to transition from the open state to the holding state after the trolley 100 is placed on the trolley transport auxiliary device 90.

[0087] In step ST109, the processor 501 determines whether there is a cart 100 to be set up along the way. For example, the optimal operation plan includes an instruction to set up or separate the cart 100 while moving it from the standby position to the target position. Therefore, the cart 100 may be set up on the cart transport assist device 90 along the way. The processor 501 determines whether there is a cart 100 to be set up along the way based on the optimal operation plan. If there is a cart 100 to be set up along the way, the process returns to step ST104. On the other hand, if it is determined that there is no cart 100 to be set up along the way, the process proceeds to step ST110.

[0088] In step ST110, the processor 701 controls the transport AMR 70 to move to the destination position. For example, the optimal operation plan includes an instruction to move the transport AMR 70 and the cart transport auxiliary device 90 from the standby position to the destination position. Therefore, the transport AMR control system 40 outputs a movement signal to the transport AMR 70 to move from the standby position to the destination position based on the optimal operation plan. The processor 701 of the transport AMR 70 that receives the signal controls the transport AMR 70 to move to the destination position, as described with reference to FIG. 12.

[0089] In step ST111, the processor 901 drives the driving unit 906 to control the holding device 907 to transition from the holding state to the release state. For example, the optimal operation plan includes an instruction for causing the cart transport auxiliary device 90 to transition from the holding state to the release state. Therefore, the processor 601 of the cart transport auxiliary device control system 60 outputs a signal for causing the cart transport auxiliary device 90, which has moved to the target position, to transition from the holding state to the release state based on the optimal operation plan. The processor 901 of the cart transport auxiliary device 90, which has received the signal, drives the driving unit 906 to control the holding device 907 to transition from the holding state to the release state, as described with reference to FIG. 13.

[0090] In step ST112, the processor 701 controls the transport AMR 70 to move in order to separate the transport cart 100. For example, the optimal operation plan includes an instruction to move the transport AMR 70 forward a predetermined distance in order to separate the transport cart 100 from the transport cart transport auxiliary device 90 that has moved to the destination position. Therefore, the transport AMR control system 40 outputs a movement signal to the transport AMR 70 in order to separate the transport cart 100 placed at the destination position based on the optimal operation plan. The processor 701 of the transport AMR 70 that receives the signal controls the transport AMR 70 to move forward a predetermined distance in order to separate the transport cart 100, as described with reference to FIG. 14. Through these operations, the transport cart 100 is placed at the destination position.

[0091] In step ST113, the processor 501 determines whether there is a trolley 100 to be installed along the way. For example, the optimal operation plan includes an instruction to install the trolley 100 after moving to the target position. For example, there may be a case where a further trolley 100 is installed along the way to transport the last trolley 100. In such a case, the processor 501 determines whether there is a trolley 100 to be installed along the way. If there is a trolley 100 to be installed along the way, the process returns to step ST104. On the other hand, if it is determined that there is no trolley 100 to be installed along the way, the process proceeds to step ST114.

[0092] In step ST114, the processor 401 determines whether or not there is a trolley 100 that will separate on the way. For example, the optimal motion plan includes an instruction to further separate the trolleys 100 after they move to the target position. There are cases where other trolleys 100 are separated before the last trolley 100 is separated. Therefore, the processor 401 determines whether or not there is a trolley 100 that will separate on the way. If there is no trolley 100 that will separate on the way, the process proceeds to step ST115. On the other hand, if it is determined that there is a trolley 100 that will separate on the way, the process returns to step ST110.

[0093] In step ST115, the processor 401 determines whether the transport AMR 70 needs to move to a standby position. If the processor 401 determines based on the optimal operation plan that the transport AMR 70 needs to move to the standby position, that is, that the cart 100 needs to be further transported, the process returns to step ST104. On the other hand, if the processor 401 determines that the cart 100 does not need to be further transported, the process proceeds to step ST116.

[0094] In step ST116, the processor 401 moves to the start point, and then the process returns to step ST103.

[0095] Of course, the operations of the processors 401, 501, and 601 described above may be performed by the processor 301 of the WES 30, for example.

[0096] (Effects of the embodiment) According to the embodiment described above, the transport AMR 70 and the cart transport auxiliary device 90 are connected to each other to transport a plurality of carts 100. In addition, by optimally combining the plurality of carts 100 in LIFO, it is possible to optimize the overall work efficiency.

[0097] [First Modification of the Embodiment] Next, in a first modified embodiment, there is a case where all four wheels of the cart 100 are not swivel wheels, but two wheels are fixed wheels and the other two wheels are swivel wheels. In the first modified embodiment, even with such a cart 100, it is possible to convey the cart to the destination position while changing direction.

[0098] (composition) The configuration of the warehouse system S in the first modified example of the embodiment, other than the cart transport assist device 90, is the same as that of the embodiment, so a duplicated description will be omitted here.

[0099] FIG. 18 is a diagram showing an example of the configuration of a cart transport assist device 90 according to a first modified example of the embodiment. The cart transporting auxiliary device 90 according to the first modified embodiment differs from the cart transporting auxiliary device 90 according to the embodiment in that it does not have a drive unit 906 and a holding device 907, and is equipped with a lift mechanism 913 and an L-shaped bracket 914 connected to the lift mechanism 913.

[0100] Lift mechanism 913 is a lifter that is installed in main body 908 and can move L-shaped metal fitting 914 up and down in the vertical direction in response to a signal from processor 901. Lift mechanism 913 may be a general lifter as long as it has a structure that can move L-shaped metal fitting 914 up and down in the vertical direction under the control of processor 901.

[0101] (structure) FIG. 19 is a diagram showing an example of a top view and a side view of the transportation AMR 70 and the cart transportation auxiliary device 90. FIG. 20 is a diagram showing an example of a cross-sectional view of the cart transportation assist device 90 taken along line aa shown in FIG. As shown in Figures 19 and 20, the lift mechanism 913 is attached to the outside of the longitudinal main body frame 9082 of the main body portion 908, and the L-shaped bracket 914 attached to the lift mechanism 913 is installed so as to pass under the longitudinal main body frame 9082 of the main body portion 908 and extend to the inside of the longitudinal main body frame 9082.

[0102] The lift mechanism 913 and the L-shaped bracket 914 are attached to the main body 908 so as to be installed near the portion of the dolly 100 where the fixed wheels are located, that is, near the front portion of the dolly 100.

[0103] As shown in Fig. 20, under the control of the processor 901, the L-shaped bracket 914 is configured to be raised and lowered by the lift mechanism 913. As shown in Fig. 20, when the L-shaped bracket 914 is lowered downward by the lift mechanism 913 (i.e., in the open state), the cart 100 is placed, and when the L-shaped bracket 914 is raised upward from the downward lowered state by the lift mechanism 913 (i.e., in the held state), the fixed wheel portion of the cart 100 is lifted from the floor surface, ensuring a clearance with the floor surface. As a result, only the swivel wheels of the cart 100 are in contact with the floor surface, and the cart 100 can move more smoothly even if the transport AMR 70 changes its traveling direction and moves accordingly.

[0104] (operation) The operation according to the first modification of the embodiment is similar to the operation described in the embodiment, and therefore a duplicated description will be omitted here.

[0105] (Functions and Effects of the First Modification of the Embodiment) According to the first modification of the embodiment described above, even if two of the wheels of the cart 100 are fixed wheels or the wheels are fixed by stoppers and function as fixed wheels, the fixed wheels can be lifted and transported. This allows the transport AMR 70 and the cart transport auxiliary device 90 to be connected to transport multiple carts 100.

[0106] [Second Modification of the Embodiment] In a second variant of the embodiment, an example is described in which the trolley transport assistance device 90 transports the trolley 100 (pallet) when the trolley 100 is a pallet without wheels, or when all of the wheels of the trolley 100 are fixed wheels, or when the wheels are fixed by stoppers and function as fixed wheels.

[0107] (composition) In the second modified example of the embodiment, the lift mechanism 913 is assumed to be capable of not only vertically moving the L-shaped metal fitting 914 up and down, but also horizontally, that is, the lift mechanism 913 is assumed to be a lifter capable of moving the L-shaped metal fitting 914 up, down, left and right. The lift mechanism 913 may be a general lifter capable of moving the L-shaped metal fitting 914 up, down, left and right under the control of the processor 901. Furthermore, the L-shaped metal fitting 914 moves up, down, left and right by the lift mechanism 913. It is assumed that the L-shaped metal fitting 914 has sufficient strength to be able to support the dolly 100 even when it moves up, down, left and right.

[0108] The configuration of the warehouse system S in the second modified example of the other embodiment is the same as that in the first modified example of the embodiment, and therefore, a duplicated description will be omitted here. (structure) FIG. 21 is a diagram showing an example of a top view and a side view of the transportation AMR 70 and the cart transportation auxiliary device 90.

[0109] FIG. 22 is a diagram showing an example of a cross-sectional view of the cart transportation assist device 90 taken along line bb shown in FIG. As shown in Figures 21 and 22, the lift mechanism 913 is attached to the outside of the longitudinal main body frame 9082 of the main body portion 908, and the L-shaped bracket 914 attached to the lift mechanism 913 is installed so as to pass under the longitudinal main body frame 9082 of the main body portion 908 and extend to the inside of the longitudinal main body frame 9082.

[0110] The lift mechanism 913 and the L-shaped brackets 914 are attached to the main body 908 so as to be installed near the four corners of the cart 100 in order to float and transport the cart 100. In other words, the four L-shaped brackets 914 are attached to a location where the cart 100 can be stably floated.

[0111] As shown in FIG. 22, under the control of the processor 901, the lift mechanism 913 moves the L-shaped metal fitting 914 up, down, left and right. Here, the left and right direction is the direction from the outside to the inside of the longitudinal main body frame 9082. As shown in FIG. 22, the lift mechanism 913 lowers the L-shaped metal fitting 914, and the dolly 100 is placed when the L-shaped metal fitting 914 is in a state where it is moved to the outside of the longitudinal main body frame 9082 (i.e., in an open state). Then, the lift mechanism 913 moves the L-shaped metal fitting 914 to the inside of the longitudinal main body frame 9082, and when it is in a state where it is moved upward (i.e., in a held state), the dolly 100 is lifted from the floor surface to ensure clearance. As a result, the dolly 100 is completely lifted from the floor surface, and since the wheel part 910 of the dolly transport auxiliary device 90 is composed of a swivel wheel, it is possible for the dolly 100 to move along with the transport AMR 70 even if the transport AMR 70 changes its traveling direction and moves.

[0112] (operation) The operation according to the second modification of the embodiment is similar to the operation described in the embodiment, and therefore a duplicated description will be omitted here.

[0113] (Functions and Effects of the Second Modification of the Embodiment) According to the second modification of the embodiment described above, even if the cart 100 is a pallet or has all fixed wheels, the cart transport auxiliary device 90 can transport the cart 100 by lifting it up. This allows the transport AMR 70 and the cart transport auxiliary device 90 to be connected to transport multiple carts 100.

[0114] [Third Modification of the Embodiment] Next, in a third modified example of the embodiment, a holding surface is provided on the main body 908, and the dolly 100 is transported in a state where it is lifted above the floor surface.

[0115] (composition) The configuration of the warehouse system S in the third modified example of the embodiment, other than the cart transport assist device 90, is the same as that of the embodiment, so a duplicated description will be omitted here.

[0116] FIG. 23 is a diagram showing an example of the configuration of a cart transport assist device 90 according to a third modified example of the embodiment. The cart transport auxiliary device 90 according to the third modified embodiment differs from the cart transport auxiliary device 90 of the embodiment in that it is equipped with an inclined surface mechanism 915, and further, a holding surface 916 and an inclined surface 917 are connected to the main body portion 908, and further, a tapered portion 918 is connected to the inclined surface 917.

[0117] The inclined surface mechanism 915 is installed at a portion where the holding surface 916 and the inclined surface 917 are connected. The inclined surface mechanism 915 has a rotation mechanism, and can raise and lower the inclined surface 917 by operating the rotation mechanism under the control of the processor 901. For example, the inclined surface mechanism 915 can transition from an open state in which the tapered portion 918 connected to the inclined surface 917 is in contact with the floor surface to a holding state in which the tapered portion 918 is separated from the floor surface. When the inclined surface mechanism 915 is in the holding state, the drive unit 906 is driven to control the short-side holding frame 9071 of the holding device 907 to face horizontally, as in the embodiment.

[0118] The holding surface 916 and the inclined surface 917 are installed on the lower part of the main body part 908. The holding surface 916 is a surface for holding the dolly 100. The inclined surface 917 is provided for moving the dolly 100 to the holding surface 916, and in the open state, the tapered part 918 is in contact with the floor surface, and in the held state, it is separated from the floor surface.

[0119] (structure) FIG. 24 is a diagram showing an example of a side view of a cart transportation assist device 90 according to a third modified example of the embodiment. As shown in FIG. 24(a), a holding surface 916 is provided at a lower part of the main body 908, at a position higher than the floor surface. The holding surface 916 is joined to an inclined surface 917 near the open portion 9084. The inclined surface 917 has a tapered portion 918 joined to the side opposite to the side joined to the holding surface 916. As shown in FIGS. 24(b) and (c), the inclined surface mechanism 915 is provided on the floor surface side of the joint between the holding surface 916 and the inclined surface 917. The inclined surface mechanism 915 has a rotation mechanism, and can transition, under the control of the processor 901, from, for example, a state in which the tapered portion 918 is grounded on the floor surface (open state) as shown in FIG. 24(b) to a state in which the tapered portion 918 is separated from the floor surface (holding state) as shown in FIG. 24(c). In the transition between the open state and the holding state, the drive unit 906 naturally rotates the holding device 907 as in the above-mentioned embodiment.

[0120] In the open state, the cart 100 is held by being pushed through the inclined surface 917 onto the holding surface 916 by the AMR 80 for coupling and placement. After being transported to the target location, the cart 100 is coupled to the AMR 80 for coupling and placement, and then is removed from the holding surface 916 and placed in a predetermined position.

[0121] In order to improve durability, the wheel portion 910 may be disposed not only on the open portion 9084 side of the main body portion 908 but also on the short-side main body frame 9081 side.

[0122] (operation) In the operation according to the third modified example of the embodiment, the operations other than step ST112 described with reference to Fig. 15 are the same as those in the embodiment, so duplicated explanations other than step ST112 will be omitted here.

[0123] In step ST112, even if the transport AMR 70 moves as in the embodiment, the cart 100 does not move away from the cart transport auxiliary device 90. Therefore, it is necessary to move the cart 100 away from the cart transport auxiliary device 90 using the connected arrangement AMR 80. That is, the optimal operation plan further includes an instruction to the connected arrangement AMR 80 to move the cart 100 away from the cart transport auxiliary device 90. The processor 501 outputs an instruction to the connected arrangement AMR 80 to move away from the cart 100 installed on the cart transport auxiliary device 90. The connected arrangement AMR 80 that has received this instruction operates to move away from the cart 100 installed on the cart transport auxiliary device 90.

[0124] (Operation and effect of the third modified example of the embodiment) According to the third modified example of the embodiment described above, the cart transport auxiliary device 90 can transport the cart 100 while floating it. This allows the transport AMR 70 and the cart transport auxiliary device 90 to be connected to transport a plurality of carts 100. In addition, the third embodiment does not have the inclined surface mechanism 915, and the tapered portion 918 may be fixed at a position slightly floating above the floor surface while floating above the floor surface. In this case, there is no need to raise or lower the inclined surface, and the connected arrangement AMR 80 can place the cart 100 on the cart transport auxiliary device, or the connected arrangement AMR 80 can isolate the cart 100 from the cart transport auxiliary device.

[0125] [Fourth Modification of the Embodiment] In a fourth modified example of the embodiment, an example in which the cart 100 is held by a holding surface and transported will be described.

[0126] (composition) The configuration of the warehouse system S according to the fourth modified embodiment, other than the cart transport assist device 90, is the same as that of the embodiment, so that a duplicated description will be omitted here.

[0127] FIG. 25 is a diagram showing an example of the configuration of a cart transport assist device 90 according to a fourth modified example of the embodiment. The cart transport assist device 90 according to the fourth modified example of the embodiment differs from the cart transport assist device 90 of the embodiment in that a holding surface 919 is provided on the main body 908. Furthermore, the holding surface 919 is joined to an inclined surface 920, and the holding surface 919 and the inclined surface 920 each include a cart guide 921.

[0128] The holding surface 919 and the inclined surface 920 are installed on the lower part of the main body 908. The holding surface 919 is a surface for holding the dolly 100. The inclined surface 920 is provided for moving the dolly 100 to the holding surface 919 or for separating the dolly 100 from the holding surface 919. When the dolly 100 is held on the holding surface 919, the wheels of the dolly 100 are lifted off the floor surface. When the dolly 100 is held on the holding surface 919, the drive unit 906 transitions the holding device 907 from the open state to the holding state as in the embodiment. Similarly, when the dolly 100 is separated from the holding surface 916, the drive unit 906 transitions the holding device 907 from the holding state to the open state.

[0129] (structure) FIG. 26 is a diagram showing an example of a side view of a cart transportation assist device 90 according to a fourth modified example of the embodiment. Fig. 27 shows a top view of a cart transport auxiliary device 90 according to a fourth modified example of the embodiment, and an example of a top view showing only a holding surface 919 and an inclined surface 920. Here, Fig. 27(a) shows an example of a top view of the cart transport auxiliary device control 90, and Fig. 27(b) shows an example of a top view showing the holding surface 919 and the inclined surface 920 in more detail. 26, a holding surface 916 is provided at a lower part of the main body 908, at a position higher than the bottom surface of the frame of the dolly 100. The inclined surface 920 is joined to the holding surface 919 near the open part 9084, and is inclined so as to become lower towards the tip. The height of the tip of the inclined surface 920 connected to the holding surface 919 is provided so as to be lower than the bottom surface of the frame of the dolly (i.e., between the floor surface and the bottom surface of the frame of the dolly, i.e., the height position where the wheels are installed).

[0130] As shown in FIG. 27, the cart 100 is pushed by the AMR 80 for connection arrangement, and the frame bottom surface of the cart 100 slides on the cart guide 921, which is composed of a ball bearing, for example, so that the cart 100 passes through the inclined surface 920 and is arranged on the holding surface 919. Then, as in the embodiment, the driving unit 906 and the holding device 907 transition from the open state to the holding state, so that the cart 100 is held. At this time, since the holding surface 919 is higher than the height of the frame bottom surface of the cart 100, the cart 100 is transported in a floating state. Note that the cart guide 921 is not limited to a ball bearing, and may be a wheel-shaped one. Note that, in the transition between the open state and the holding state, the driving unit 906 of course rotates the holding device 907 as in the above-mentioned embodiment.

[0131] Furthermore, to improve durability, the wheel portion 910 may be arranged not only on the open portion 9084 side of the main body portion 908 but also on the short-side main body frame 9081 side.

[0132] Furthermore, the cart 100 transported to the destination position is removed from the holding surface 919 by the AMR 80 for connection and placement, and is placed at a predetermined position.

[0133] (operation) In the operation according to the third modified example of the embodiment, the operations other than step ST112 described with reference to Fig. 15 are the same as those in the embodiment, so duplicated explanations other than step ST112 will be omitted here.

[0134] In step ST112, even if the transport AMR 70 moves as in the embodiment, the cart 100 does not move away from the cart transport auxiliary device 90. Therefore, it is necessary to move the cart 100 away from the cart transport auxiliary device 90 using the connected arrangement AMR 80. That is, the optimal operation plan further includes an instruction to the connected arrangement AMR 80 to move the cart 100 away from the cart transport auxiliary device 90. The processor 501 outputs an instruction to the connected arrangement AMR 80 to move away from the cart 100 installed on the cart transport auxiliary device 90. The connected arrangement AMR 80 that has received this instruction operates to move away from the cart 100 installed on the cart transport auxiliary device 90.

[0135] (Functions and Effects of the Fourth Modification of the Embodiment) According to the fourth modification of the embodiment described above, the cart transport auxiliary device 90 can transport the cart 100 by floating it. This allows the transport AMR 70 and the cart transport auxiliary device 90 to be connected to transport a plurality of carts 100.

[0136] [Fifth Modification of the Embodiment] In the fifth modified example of the embodiment, an example will be described in which the holding device is raised and lowered by a lift mechanism, so that the dolly 100 is transported in a state where it is lifted above the floor surface.

[0137] (composition) The configuration of the warehouse system S in the fifth modified example of the embodiment, other than the cart transport assist device 90, is the same as that of the embodiment, so a duplicated description will be omitted here.

[0138] FIG. 28 is a diagram showing an example of the configuration of a cart transport assist device 90 according to a fifth modified example of the embodiment. In the fifth modified embodiment, the lift mechanism 922 is installed at each location where the dolly 100 is disposed in the side direction of the longitudinal main body frame 9082. The lift mechanism 922 moves the holding device 923 up and down in the vertical direction. The lift mechanism 922 can also move the holding device 923 in the horizontal direction, that is, the lift mechanism 922 is a lifter that can move the holding device 923 up and down and left and right. The lift mechanism 923 may be a general lifter that can move the holding device 923 up and down and left and right under the control of the processor 901.

[0139] The holding device 923 is connected to the lift mechanism 922. As described above, the holding device 923 moves up, down, left and right by the lift mechanism 922. The holding device 923 also has a holding mechanism for holding the cart 100 from below.

[0140] (structure) FIG. 29 is a diagram showing an example of a side view of the transportation AMR 70 and the cart transportation auxiliary device 90. FIG. 30 is a diagram showing an example of a top view of the cart transport auxiliary device 90. As shown in FIG. 29 and 30, a lift mechanism 922 is attached to a side surface of a longitudinal main body frame 9082 of the main body 908. The pair of lift mechanisms 922 and holding devices 923 hold the dolly 100. For example, the holding devices 923 attached to the lift mechanism 922 hold the dolly 100 from below. At this time, the dolly 100 is raised above the floor surface.

[0141] As shown in FIG. 29(a), when the holding device 923 is released, that is, when the holding device 923 is arranged so as to stick to the longitudinal main body frame 9082, the width between the paired holding device 923 is wider than the width of the dolly 100 (for example, the width of the bottom surface of the dolly 100). On the other hand, as shown in FIG. 29(b), when holding, the lift mechanism 922 moves the holding device 923 to a position lower than the frame bottom surface of the dolly 100 (that is, between the floor surface and the frame bottom surface, that is, the position where the wheels of the dolly are arranged), and moves so as to narrow the width between the paired holding device 923. As a result, the width of the paired holding device 923 becomes narrower than the width of the dolly. After that, the lift mechanism 922 lifts the dolly 100 by raising the holding device 923 in a direction perpendicular to the floor surface. As a result, the lift mechanism 922 is in a state in which the dolly 100 is lifted from the floor surface by the holding device 923, that is, in a holding state.

[0142] Furthermore, as shown in FIG. 29(a), the cart 100 is placed by the AMR 80 for connection and placement by the lift mechanism 922 when the holding devices 923 are in an open state. Then, as shown in FIG. 29(b), the lift mechanism 922 uses the holding devices 923 to lift the cart 100 (i.e., to a held state). Then, in this state, the cart 100 is transported by the transport AMR 70 and the cart transport auxiliary device 90. Note that the lift mechanism 922 may transition between the open state and the held state for each pair of holding devices 923, or may transition between the open state and the held state for multiple holding devices 923.

[0143] Furthermore, to improve durability, the wheel portion 910 may be arranged not only on the open portion 9084 side of the main body portion 908 but also on the short-side main body frame 9081 side.

[0144] 30, the lift mechanism 922 can clamp the cart 100 by horizontally moving the holding device 923 from the outside to the inside of the longitudinal main body frame 9082. This allows the cart 100 to be transported stably.

[0145] (operation) The operation of the fifth modification of the embodiment is similar to the operation described in the embodiment, and therefore the duplicated explanation will be omitted here. Note that, in steps ST105, ST108, and ST111, when the cart 100 is set in the cart transport assist device 90, the lift mechanism 922 operates as described in the above configuration to transition between the held state and the released state, which is different from the embodiment.

[0146] (Functions and Effects of the Fifth Modification of the Embodiment) According to the fifth modified example of the embodiment described above, the cart transport auxiliary device 90 can transport the cart 100 by floating it. Furthermore, the cart transport auxiliary device 90 can sandwich the cart 100 with the lift mechanism 922 and the holding device 923. This allows the transport AMR 70 and the cart transport auxiliary device 90 to be connected to stably transport a plurality of carts 100. Furthermore, the sandwiching operation makes it possible to transport not only carts but also pallets placed on the floor.

[0147] [Other embodiments] For example, the first to fifth modified examples of the embodiment can be combined. For example, the portion closest to the transport AMR 70 may be configured as in the first modified example, the next closest portion may be configured as in the second modified example, and the next portion may be configured as in the third modified example. For example, depending on the type of the cart 100 in the warehouse system S, the cart transport auxiliary device 90 may be configured to maximize overall work efficiency.

[0148] Furthermore, the embodiment and the first to fifth modified examples can be combined. For example, after the cart 100 is installed as in the fourth modified example of the embodiment, the cart 100 may be held by the holding device 907 as described in the embodiment.

[0149] The program according to the present embodiment may be transferred in a state where it is stored in an electronic device (computer) such as the WES30, or may be transferred in a state where it is not stored in the electronic device. In the latter case, the program may be transferred via a network, or may be transferred in a state where it is stored in a storage medium. The storage medium is a non-transitory tangible medium. The storage medium is a medium that can be read by a computer such as the WES30 (computer-readable medium). The storage medium may be any medium capable of storing a program and being readable by a computer, such as an optical disk (e.g., a CD-ROM), a magnetic disk, or a semiconductor memory (e.g., a memory card), and the form of the storage medium is not important.

[0150] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0151] 1. Warehouse management system 2. AMR automated transport system 3. Warehouse operation system 301...Processor 3011…Acquisition Department 3012...Generation section 3013...Output section 302…Memory 303...Interface 40...AMR control system for transport 401...Processor 402…Memory 403...Interface 50…AMR control system for linked configuration 501...Processor 502…Memory 503...Interface 60... Cart transport auxiliary device control system 601...Processor 602…Memory 603...Interface 70…AMR for transport 701…Processor 702...ROM 703...RAM 704...Auxiliary storage device 705...Communication interface 706…Sensor 707…Drive unit 708…Battery 709…Charging mechanism 710…Tire AMR for 80 connected arrangement 801...processor 802...ROM 803...RAM 804...Auxiliary storage device 805…Communication interface 806…Sensor 807...Drive unit 808…Battery 809…Charging mechanism 810…Tire 90... Cart transport auxiliary device 901…Processor 902...ROM 903...RAM 904...Auxiliary storage device 905...Communication interface 906…Drive unit 907...Holding device 9071…Short-arm holding frame 9072…Longitudinal support frame 908…Main body 9081…Short body frame 9082…Long main frame 9083…Body joint part 9084...Open part 909…AMR joint 910…Wheel section 911…Battery 912…Charging mechanism 913…Lift mechanism 914…L-shaped bracket 915…Slope mechanism 916…Holding surface 917…Slope surface 918…Tapered section 919…Holding surface 920…Slope surface 921... Cart guide 922...Lift mechanism 923...Holding device 100…Trolley

Claims

1. A main body portion including a short body frame and a pair of long body frames connected at both ends of the short body frame; A joint portion that is joined to the short-side main body frame and is joined to a transport robot for transporting an autonomous traveling transport robot; a holding section connected to the pair of longitudinal frames of the main body section and configured to hold a plurality of carriages to be installed by the autonomous traveling transport robot for connection arrangement; A wheel unit is provided at an end opposite to the end to which the short body frame is connected; A trolley transport auxiliary device comprising:

2. The joint is provided at an approximate center point of the transport autonomous traveling transport robot and is structured to be rotatable around the approximate center point. The cart transport auxiliary device according to claim 1.

3. A drive unit that rotates the holding unit is further provided, The holding portion is an L-shaped frame having a long-side holding frame and a short-side holding frame configured in parallel with the long-side main body frame, The drive unit rotates the holding unit to make the short-side holding frame substantially horizontal with respect to the ground, thereby bringing the cart into a holding state in which it can be held. The cart transport auxiliary device according to claim 1.

4. The drive unit rotates the short-side holding frame so as to be substantially perpendicular to the ground, thereby bringing the dolly into an open state in which it can be placed on the main body unit. The cart transport auxiliary device according to claim 3.

5. the longitudinal support frame having a length sufficient to support one or more dollies; The cart transport auxiliary device according to claim 3.

6. Further comprising a lift mechanism for lifting the holding part, The holding portion is an L-shaped metal fitting, and the lift mechanism raises the holding portion to hold a part of the cart above a floor surface. The cart transport auxiliary device according to claim 1.

7. The holding portion is provided at a position corresponding to a front portion of the longitudinal main body frame in a traveling direction of the dolly, and in a holding state in which the dolly is held, the holding portion lifts a fixed wheel at a front portion of the traveling direction of the dolly from a floor surface. The cart transport auxiliary device according to claim 1.

8. A lift mechanism is further provided to move the holding portion up and down and to move the holding portion substantially horizontally from the outside to the inside of the longitudinal main body frame, The holding portion is an L-shaped metal fitting, and the lift mechanism moves the holding portion inwardly of the longitudinal main body frame and upwardly to lift the cart from the floor surface into a holding state. The cart transport auxiliary device according to claim 1.

9. The holding portion has a holding surface provided on a lower portion of the longitudinal main body frame, an inclined surface connected to the holding surface; The cart transport assist device according to claim 1 , further comprising:

10. A tapered portion connected to the inclined surface; an inclined surface mechanism that is installed at a lower portion where the holding surface and the inclined surface are connected and that can move the inclined surface up and down; Further equipped with The inclined surface mechanism lowers the inclined surface and brings the tapered portion into contact with a floor surface to bring the cart into an open state in which the autonomous traveling transport robot for connection and placement can place the cart on the holding surface, and raises the inclined surface and moves the tapered portion away from the floor surface to bring the cart into a holding state in which the cart can be held. The cart transport auxiliary device according to claim 9.

11. The holding portion has a holding surface provided on a lower portion of the longitudinal main body frame, an inclined surface connected to the holding surface; A carriage guide provided on the holding surface and the inclined surface; Further equipped with The carriage guide is configured to be rotatable, and the carriage is moved to a predetermined position on the holding surface by sliding on the carriage guide by the autonomous traveling transport robot for connection and placement. The cart transport auxiliary device according to claim 1.

12. Further comprising a lift mechanism for lifting the holding part, The lift mechanism lifts the holding portion upward to lift the underside of the carriage, The cart transport auxiliary device according to claim 1.

13. A receiving unit that receives a transportation operation plan; A generation unit that formulates an operation plan based on the transportation operation plan; a transmission unit that transmits the operation plan to each of a transport autonomous traveling transport robot control system that controls the transport autonomous traveling transport robot, a cart transport auxiliary device control system that is connected to the transport autonomous traveling transport robot and controls a cart transport auxiliary device that enables transport of a plurality of carts, and a coupled arrangement autonomous traveling transport robot control system that controls a coupled arrangement autonomous traveling transport robot that installs the cart on the cart transport auxiliary device; A warehouse operation system comprising:

14. The operation plan includes an instruction to move the transport autonomous traveling transport robot to a standby position, an instruction to transition the trolley transport auxiliary device to an open state in which the trolley can be placed, and an instruction to have the coupled placement autonomous traveling transport robot place the trolley on the trolley transport auxiliary device. The warehouse operation system according to claim 13.

15. The operation plan further includes an instruction to cause the cart transport assist device to transition from the open state to a holding state in which the cart is held after the cart is placed on the cart transport assist device.

15. A warehouse operation system as claimed in claim 14.

16. The operation plan further includes an instruction to move the transport autonomous traveling transport robot and the cart transport auxiliary device from the standby position to a destination position, an instruction to transition the cart transport auxiliary device from the held state to the released state, and an instruction to move the transport autonomous traveling transport robot forward to separate the cart.

16. A warehouse operation system as claimed in claim 15.

17. The operation plan further includes an instruction to cause the cart transport assist device to place the cart during the movement from the standby position to the destination position.

17. A warehouse operation system as claimed in claim 16.

18. The operation plan further includes an instruction to move the cart away from the cart transport assist device during the movement from the standby position to the destination position.

17. A warehouse operation system as claimed in claim 16.

19. The optimal operation plan further includes an instruction to move the transport autonomous traveling transport robot and the cart transport auxiliary device from the standby position to a target position, an instruction to transition the cart transport auxiliary device from the held state to the released state, and an instruction to the coupled arrangement autonomous traveling transport robot to separate the cart from the cart transport auxiliary device.

16. A warehouse operation system as claimed in claim 15.

20. A warehouse operation method executed by a processor of a warehouse operation system, comprising: Receiving a transportation operation plan; Formulating an operation plan based on the transportation operation plan; Transmitting the operation plan to a transport autonomous traveling transport robot control system that controls the transport autonomous traveling transport robot, a cart transport auxiliary device control system that is connected to the transport autonomous traveling transport robot and controls a cart transport auxiliary device that enables the transport of multiple carts, and a connected placement autonomous traveling transport robot control system that controls a connected placement autonomous traveling transport robot that installs the cart on the cart transport auxiliary device; A warehouse operation method comprising:

21. 1. A warehouse operations program comprising instructions for execution by a processor of a warehouse operations system, Receiving a transportation operation plan; Formulating an operation plan based on the transportation operation plan; Transmitting the operation plan to a transport autonomous traveling transport robot control system that controls the transport autonomous traveling transport robot, a cart transport auxiliary device control system that is connected to the transport autonomous traveling transport robot and controls a cart transport auxiliary device that enables the transport of multiple carts, and a connected arrangement autonomous traveling transport robot control system that controls a connected arrangement autonomous traveling transport robot that installs the cart on the cart transport auxiliary device; A warehouse operations program that includes:

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